A photographing device comprises an image pickup unit to acquire a moving image and a still image of an object, an image pickup control unit, an angle sensor, an image processing unit for extracting characteristic points from a first still image, tracking the characteristic points in the moving image, identifying the characteristic points in a newest image and selecting an orientation point common to the first still image and the newest image, a storage unit, a display unit, and an arithmetic unit. The arithmetic unit performs relative orientation between the first still image and the newest image based on the orientation point and on detection result of the angle sensor, obtains a distance H to the object and a distance B between points where the images have been photographed and performs guidance display where still images can be acquired sequentially when the B/H value reaches a predetermined value or higher.
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1. An image pickup method; comprising: moving while photographing a moving image of an object to be measured; extracting characteristic points from a first image acquired; performing image tracking on said characteristic points; identifying said characteristic points from a newest second image; selecting an orientation point from said characteristic points; executing relative orientation between said first image and said second image based on said orientation point; displaying photographing condition of said object to be measured on a display unit in real time and display said orientation points in different colors or by flashing display at a moment when a value of B/H reaches a predetermined value or higher, wherein H is a distance to said object to be measured thus obtained and B is a distance between photographing points where said first image and said second image have been photographed and said B/H value is calculated while moving.
This image pickup method involves capturing a moving image of an object while in motion. It extracts key features from an initial image, tracks these features in subsequent frames of the moving image, and identifies them in the latest image. An "orientation point" common to both the first and latest images is selected. The method then calculates the relative orientation between the first and latest images based on this orientation point. As the user moves, it displays the real-time shooting conditions and highlights the orientation points on the display, changing their color or flashing them when the ratio of the distance traveled (B) to the object's distance (H) exceeds a threshold (B/H). The B/H value is continuously calculated during movement to guide the user when to capture a still image.
2. An image pickup method according to claim 1 , further comprising acquiring still images sequentially at a moment when said B/H value reaches a predetermined value or higher.
This image pickup method, which involves capturing a moving image of an object while in motion, extracting key features from an initial image, tracking these features, identifying them in the latest image, selecting an "orientation point", calculating relative orientation between the first and latest images based on this point, displaying real-time shooting conditions, and highlighting orientation points when the B/H value exceeds a threshold, further includes automatically capturing a sequence of still images whenever the B/H ratio reaches or exceeds the predetermined threshold. This allows the system to capture images at optimal viewpoints for 3D reconstruction or other photogrammetry purposes.
3. A photographing device, comprising: an image pickup unit capable to acquire a moving image and a still image of an object to be measured; an image pickup control unit for controlling acquisition of a moving image and a still image; an angle sensor for detecting at least a pitch angle; an image processing unit for extracting characteristic points from a first still image, for performing tracking of said characteristic points in regard to said moving image, and for identifying said characteristic points in a newest image and for selecting an orientation point common to said first still image and said newest image; a storage unit; a display unit for displaying said moving image and said still image; and an arithmetic unit, wherein said image pickup control unit picks up a moving image after acquiring said first still image while moving, and wherein said arithmetic unit performs relative orientation between said first still image and said newest image based on the orientation point and on detection result of said angle sensor, obtains a distance H to said object to be measured and a distance B between photographing points where said first still image and said second still image have been photographed, obtains a B/H value while moving, and displays said orientation points in different colors, or displays said orientation point in flashing at a moment when said B/H value reaches a predetermined value or higher.
This photographing device captures both moving and still images of an object and includes a unit to control the capture. An angle sensor detects at least the pitch angle of the device. An image processing unit extracts key features from an initial still image, tracks those features within a moving image, and identifies the features in the latest image, selecting a common "orientation point." A storage unit stores captured images. The display unit shows both moving and still images. An arithmetic unit calculates the relative orientation between the initial still image and the newest image based on the orientation point and the angle sensor data. It calculates the distance (H) to the object and the distance (B) between capture points, computing the B/H ratio as the device moves. The orientation points are displayed with different colors or flashing when the B/H value reaches a predetermined threshold, guiding the user to the appropriate position for the next shot.
4. A photographing device according to claim 3 , wherein said arithmetic unit controls said image pickup control unit so as to acquire still images sequentially at a moment when said B/H value reaches a predetermined value or higher, and to store the result in said storage unit.
This photographing device, which captures both moving and still images, controls capture, detects pitch angle, extracts and tracks image features, selects an orientation point, calculates relative orientation and B/H ratio, and displays orientation points, automatically triggers the capture of a sequence of still images when the B/H ratio reaches or exceeds a predetermined threshold. The resulting still images are then stored in the storage unit. This allows automated image capture at optimal viewpoints for accurate 3D reconstruction.
5. A photographing device according to claim 3 , wherein said display unit comprises a horizontal photographing position display portion extending in horizontal direction and a vertical photographing position display portion extending in vertical direction, and a horizontal position and a vertical position where said still image has been acquired are displayed respectively on said horizontal photographing position display portion and said vertical photographing position display portion.
This photographing device, which captures both moving and still images, controls capture, detects pitch angle, extracts and tracks image features, selects an orientation point, calculates relative orientation and B/H ratio, and displays orientation points, includes a specialized display with horizontal and vertical position indicators. These indicators show the horizontal and vertical positions where the still image was captured. This provides visual feedback to the user regarding the spatial location of each captured image.
6. A photographing device according to claim 5 , wherein a horizontal position and a vertical position where a still image has been acquired are displayed respectively at said horizontal photographing position display portion and said vertical photographing position display portion, a display to indicate the present photographing position is displayed in real time, and flashing or color is changed on the display to indicate the present image pickup position at a moment when said B/H value of said image pickup position reaches the predetermined value or higher.
This photographing device, which captures both moving and still images, controls capture, detects pitch angle, extracts and tracks image features, selects an orientation point, calculates relative orientation and B/H ratio, and displays orientation points using horizontal and vertical position indicators, displays the current camera position in real-time on the horizontal and vertical position indicators. When the B/H ratio for the current capture position reaches a predetermined value or higher, the display element indicating the current position changes color or flashes, providing immediate feedback that the current location is suitable for capturing another still image.
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May 29, 2013
May 9, 2017
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